BK곱과 COLREGs에 기반한 지능형 선박의 충돌회피시스템 = A Collision Avoidance System for Intelligent Ship using BK-products and COLREGs

국문 초록 (Abstract)

본 논문에서는 지능형 선박의 실시간 장애물회피를 위한 충돌회피시스템을 논한다. 다른 무인자율항체들의 충돌회피시스템과는 달리 지능형 선박의 충돌회피시스템은 목적지까지의 합리적이고 안전한 경로를 통한 충돌회피뿐만 아니라 해양을 항해하는 모든 선박이 준수해야하는 국제해상충돌예방규칙(COLRECs, International Regulations for Preventing Collisions at Sea)을 반영해야한다. 목적지까지의 합리적이고 안전한 경로를 통한 충돌회피라는 일반적인 충돌회피시스템의 목표를 달성하기 위해 BK-곱에 기반한 휴리스틱 탐색기법을 채용하며, 또 다른 목표인 COLREGs의 준수를 위해 충돌회피를 위한 규칙을 적용하는 지식기반시스템을 채용한다. 제안된 충돌회피시스템의 성능검증을 위해 COLREGs에 명시된 여러 가지 조우상황을 설정한 시나리오를 이용하여 최적성과 안정성 관점에서 시뮬레이션을 수행하고 그 결과를 $A^{\ast}$ 탐색기법과 비교한다. 시뮬레이션을 통해 제안된 충돌회피시스템이 지능형 선박의 실용적이고 효율적인 실시간 충돌회피시스템으로 적합함을 확인하였다.

다국어 초록 (Multilingual Abstract)

This paper presents a collision avoidance system for intelligent ship. Unlike collision avoidance system of other unmanned vehicles, the collision avoidance system for intelligent ship aims at not only deriving a reasonable and safe path to the goal but also keeping COLRECs(International Regulations for Preventing Collisions at Sea). The heuristic search based on the BK-products is adopted to achieve the general purpose of collision avoidance system; deriving a reasonable and safe path. The rule of action to avoid collision is adopted for the other necessary and sufficient condition; keeping the COLREGs. The verification of proposed collision avoidance system is performed with scenarios that represent encounter situations classified in the COLREGs, then it is compared with $A^{\ast}$ search method in view of optimality and safety. The analysis of simulation result revels that the proposed collision avoidance system is practical and effective candidate for real-time collision avoidance system of intelligent ship.

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